Paparazzi UAS v7.0_unstable
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my_debug_servo.h
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1#ifndef MY_DEBUG_SERVO_H
2#define MY_DEBUG_SERVO_H
3
4#include <libopencm3/stm32/gpio.h>
5#include <libopencm3/stm32/rcc.h>
6
7/* using servo 2 connector as debug */
8
9#define DEBUG_S1_TOGGLE() { GPIOC_ODR ^= GPIO6; }
10#define DEBUG_S1_ON() { GPIOC_BSRR = GPIO6; }
11#define DEBUG_S1_OFF() { GPIOC_BRR = GPIO6; }
12
13#define DEBUG_S2_TOGGLE() { GPIOC_ODR ^= GPIO7; }
14#define DEBUG_S2_ON() { GPIOC_BSRR = GPIO7; }
15#define DEBUG_S2_OFF() { GPIOC_BRR = GPIO7; }
16
17#define DEBUG_S3_TOGGLE() { GPIOC_ODR ^= GPIO8; }
18#define DEBUG_S3_ON() { GPIOC_BSRR = GPIO8; }
19#define DEBUG_S3_OFF() { GPIOC_BRR = GPIO8; }
20
21#define DEBUG_S4_TOGGLE() { GPIOC_ODR ^= GPIO9; }
22#define DEBUG_S4_ON() { GPIOC_BSRR = GPIO9; }
23#define DEBUG_S4_OFF() { GPIOC_BRR = GPIO9; }
24
25#define DEBUG_S5_TOGGLE() { GPIOB_ODR ^= GPIO8; }
26#define DEBUG_S5_ON() { GPIOB_BSRR = GPIO8; }
27#define DEBUG_S5_OFF() { GPIOB_BRR = GPIO8; }
28
29#define DEBUG_S6_TOGGLE() { GPIOB_ODR ^= GPIO9; }
30#define DEBUG_S6_ON() { GPIOB_BSRR = GPIO9; }
31#define DEBUG_S6_OFF() { GPIOB_BRR = GPIO9; }
32
33
34
35#define DEBUG_SERVO1_INIT() { \
36 /* S1: PC6 S2: PC7 S3: PC8 */ \
37 GPIOC_BSRR = GPIO6 | GPIO7 | GPIO8 ; \
38 rcc_periph_clock_enable(RCC_GPIOC); \
39 gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_50_MHZ, \
40 GPIO_CNF_OUTPUT_PUSHPULL, GPIO6 | GPIO7 | GPIO8); \
41 DEBUG_S1_OFF(); \
42 DEBUG_S2_OFF(); \
43 DEBUG_S3_OFF(); \
44 }
45
46#define DEBUG_SERVO2_INIT() { \
47 /* S4: PC9 */ \
48 GPIOC_BSRR = GPIO9; \
49 rcc_periph_clock_enable(RCC_GPIOC); \
50 gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_50_MHZ, \
51 GPIO_CNF_OUTPUT_PUSHPULL, GPIO9); \
52 /* S5: PB8 and S6: PB9 */ \
53 GPIOB_BSRR = GPIO8 | GPIO9; \
54 rcc_periph_clock_enable(RCC_GPIOB); \
55 gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ, \
56 GPIO_CNF_OUTPUT_PUSHPULL, GPIO8 | GPIO9); \
57 DEBUG_S4_OFF(); \
58 DEBUG_S5_OFF(); \
59 DEBUG_S6_OFF(); \
60 }
61
62
63#endif /* MY_DEBUG_SERVO_H */